CN112037534B - Car detection method and device integrating geomagnetic data and NB (nuclear magnetic resonance) signals - Google Patents
Car detection method and device integrating geomagnetic data and NB (nuclear magnetic resonance) signals Download PDFInfo
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Abstract
The invention provides a car detection method and a car detection device integrating geomagnetic data and NB signals, wherein the method comprises the steps of reading geomagnetic data of a parking space as a baseline tracking data source, and performing baseline tracking by adopting a mean value smoothing algorithm; judging whether the read geomagnetic data reaches a threshold value for triggering a geomagnetic vehicle detection algorithm; when the variation of the geomagnetic data reaches a threshold value for triggering a geomagnetic vehicle detection algorithm, triggering the geomagnetic vehicle detection algorithm, and switching the state machine state into a vehicle-presence state to be confirmed according to a gradient threshold value; judging whether the geomagnetic data is stable within a preset time; when the geomagnetic data is stable within a preset time, reading NB network signals of the single-mode geomagnetic equipment; and comparing the RSRP value of the NB network signal with the historical vehicle-in-process RSRP value, and if the RSRP value of the NB network signal is within the historical vehicle-in-process RSRP value range, judging that the parking space is parked in a parking space. The invention can solve the problem of false detection of single-mode geomagnetic equipment caused by baseline drift and adjacent vehicle interference.
Description
Technical Field
The invention relates to a car detection method and a car detection device, in particular to a car detection method and a car detection device integrating geomagnetic data and NB signals.
Background
The intelligent traffic is a hotspot research direction of the current internet of things, and the intelligent parking is an important subset of the intelligent traffic, and is mainly used for solving the problems of urban traffic jam and parking difficulty. The intelligent parking covers a parking lot with camera monitoring and also comprises a roadside planned parking space. The method is characterized in that the installation, monitoring and construction cost is high for managing roadside parking spaces, currently, geomagnetic vehicle detection equipment is mainly installed, whether a vehicle is parked or not is judged according to the change of geomagnetic intensity, and the parking state is reported to a platform through a local area network (such as an RFID + router) or an operator network (such as NBIOT/Cat1), so that data support is provided for managers and users. Along with the coverage of the NB network, the geomagnetic vehicle detection equipment based on the NB has the advantages of convenience in construction, low power consumption and low cost, and is an important scheme for constructing intelligent traffic.
The geomagnetic vehicle inspection equipment has two product forms of dual-mode geomagnetic detection and single-mode geomagnetic detection. The dual-mode geomagnetic equipment generally comprises two sensors, namely geomagnetic and radar, wherein the geomagnetic is used for triggering detection and the radar is used for judging the vehicle, and the vehicle detection accuracy rate of the products is high, but the cost is high; the single-mode geomagnetic equipment uses the geomagnetic sensor as the only basis for judging the car, the cost is low, but the existing problems are that geomagnetic baseline drift and false detection caused by interference of adjacent parking spaces exist, and the maintenance cost of the equipment is high during operation.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a car detection method and a device which integrate geomagnetic data and NB signals, aiming at solving the problems of geomagnetic drift and adjacent car interference of single-mode geomagnetic equipment.
In order to solve the technical problems, the invention adopts the technical scheme that: a car inspection method integrating geomagnetic data and NB signals comprises the following steps,
s10, reading the geomagnetic data of the parking space, taking the read geomagnetic data as a baseline tracking data source, and performing baseline tracking by adopting a mean value smoothing algorithm;
s20, judging whether the read geomagnetic data reaches a threshold value for triggering a geomagnetic vehicle detection algorithm;
s30, when the variation of the geomagnetic data reaches a threshold value for triggering a geomagnetic vehicle detection algorithm, triggering the geomagnetic vehicle detection algorithm, and switching the state machine state into a vehicle-presence state to be confirmed according to a gradient threshold value;
s40, judging whether the geomagnetic data is stable within a preset time;
s50, when the geomagnetic data are stable in a preset time, reading NB network signals of the single-mode geomagnetic equipment;
s60, comparing the RSRP value of the NB network signal with the historical vehicle-in-process RSRP value, if the RSRP value of the NB network signal is within the historical vehicle-in-process RSRP value range, judging that the vehicle is parked in the parking space, and if not, judging that no vehicle is parked.
Further, step S30 specifically includes,
s31, when the variation of the geomagnetic data reaches a triggering first threshold, triggering a geomagnetic vehicle detection algorithm, stopping baseline tracking and continuously comparing the geomagnetic data;
and S32, when the variation of the geomagnetic data is stabilized at the second threshold for a period of time, the state machine transitions to a state of having a vehicle to be confirmed.
Further, the variation of the geomagnetic data is a variation of a three-axis magnetic field.
Further, in step S40, a sliding window algorithm is used to determine whether the geomagnetic data is stable within a preset time.
Further, step S40 specifically includes,
s41, recording the maximum value, the minimum value and the average value of geomagnetic data in a preset time window;
s42, calculating the variance of the maximum value and the minimum value of the geomagnetic data;
s43, respectively determining whether the variance of the maximum value and the minimum value of the geomagnetic data is within a preset range, and determining that the geomagnetic data is stable when the variance of the maximum value and the minimum value of the geomagnetic data is within the preset range.
The invention also provides a car inspection device for integrating geomagnetic data and NB signals, which comprises,
the base line tracking module is used for reading geomagnetic data of the parking space, using the read geomagnetic data as a base line tracking data source, and adopting a mean value smoothing algorithm to perform base line tracking;
the threshold judging module is used for judging whether the read geomagnetic data reaches a threshold for triggering a geomagnetic vehicle detection algorithm;
the state switching module is used for triggering the geomagnetic vehicle detection algorithm when the variable quantity of the geomagnetic data reaches a threshold value for triggering the geomagnetic vehicle detection algorithm, and switching the state of the state machine into a vehicle-existing state to be confirmed according to a gradient threshold value;
the stability judging module is used for judging whether the geomagnetic data is stable within a preset time;
the NB network signal reading module is used for reading the NB network signal of the single-mode geomagnetic equipment when the geomagnetic data is stable within the preset time;
and the parking space state judging module is used for comparing the RSRP value of the NB network signal with the historical vehicle-in RSRP value, judging that the vehicle is parked in the parking space if the RSRP value of the NB network signal is within the historical vehicle-in RSRP value range, and otherwise judging that no vehicle is parked in the parking space.
Further, the state switching module comprises,
the first triggering unit is used for triggering the geomagnetic vehicle detection algorithm after the variable quantity of the geomagnetic data reaches a triggering first threshold value, stopping baseline tracking and continuously comparing the geomagnetic data;
and the second trigger unit is used for shifting the state machine to a state with a vehicle to be confirmed after the variable quantity of the geomagnetic data is stabilized at the second threshold value for a period of time.
Further, the variation of the geomagnetic data is a variation of a three-axis magnetic field.
Further, the stability judging module is configured to judge whether the geomagnetic data is stable within a preset time by using a sliding window algorithm.
Further, the smoothness judgment module comprises,
the geomagnetic data recording unit is used for recording the maximum value, the minimum value and the average value of geomagnetic data of a preset time window;
a variance calculating unit for calculating the variance of the maximum value and the minimum value of the geomagnetic data;
and the geomagnetic data comparison unit is used for respectively judging whether the variance of the maximum value and the minimum value of the geomagnetic data is within a preset range, and judging that the geomagnetic data is stable when the variance of the maximum value and the minimum value of the geomagnetic data is within the preset range.
The invention has the beneficial effects that: the method comprises the steps of reading geomagnetic data of a parking space, using the read geomagnetic data as a baseline tracking data source, adopting a mean value smoothing algorithm to track a baseline, and using the read geomagnetic data only as a trigger condition, so that the geomagnetic baseline can track whether vehicles exist in the parking space or not all the time, comparing an RSRP value of an NB network signal with a historical vehicle-existing RSRP value, judging whether vehicles exist in the parking space to park if the RSRP value of the NB network signal falls within the historical vehicle-existing RSRP value range, and judging whether vehicles exist in the parking space or not otherwise, thereby avoiding the problems of baseline drift and adjacent vehicle interference of single-mode geomagnetic equipment.
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The following detailed description of the invention refers to the accompanying drawings.
Fig. 1 is a flowchart of a car inspection method for integrating geomagnetic data and NB signals according to an embodiment of the present invention;
fig. 2 is a block diagram of a car inspection apparatus that integrates geomagnetic data and NB signals according to an embodiment of the present invention;
FIG. 3 is a schematic block diagram of a computer device in accordance with a specific embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As shown in fig. 1, the first embodiment of the present invention is: a car inspection method integrating geomagnetic data and NB signals comprises the following steps,
s10, reading the geomagnetic data of the parking space, taking the read geomagnetic data as a baseline tracking data source, and performing baseline tracking by adopting a mean value smoothing algorithm;
in this step, the geomagnetic data is read by a geomagnetic sensor, and is tracked by a mean value smoothing algorithm, that is, b (i) [ [ H (1) + H (2) +. ] to. + H (n) ]/n, wherein the magnetic field strength of a certain axis is collected as H (i), and reference lines bx (i), by (i), and bz (i) of three axes are respectively calculated.
S20, judging whether the read geomagnetic data reaches a threshold value for triggering a geomagnetic vehicle detection algorithm;
s30, when the variation of the geomagnetic data reaches a threshold value for triggering a geomagnetic vehicle detection algorithm, triggering the geomagnetic vehicle detection algorithm, and switching the state machine state into a vehicle-presence state to be confirmed according to a gradient threshold value; the variation of the geomagnetic data is the variation of the three-axis magnetic field.
The step S30 specifically includes the steps of,
s31, when the variation of the geomagnetic data reaches a triggering first threshold, triggering a geomagnetic vehicle detection algorithm, stopping baseline tracking and continuously comparing the geomagnetic data;
and S32, when the variation of the geomagnetic data is stabilized at the second threshold for a period of time, the state machine transitions to a state of having a vehicle to be confirmed.
Wherein, the change amount Δ h (i) of the geomagnetic baseline: Δ h (i) ═ h (i) — b (i) |, and further three-axis magnetic field variations Δ hx (i), Δhy (i), and Δ hz (i) are calculated. The total change of three axes is used for judging, and the monitoring sensitivity can be improved. The total variation Δ m (i) ═ Δ hx (i) +Δ hy (i) +Δ hz (i), and when Δ m (i) > = therhold, that is, a preset threshold, the state switching is performed while satisfying the trigger condition of the gradient threshold.
S40, judging whether the geomagnetic data is stable within a preset time by adopting a sliding window algorithm;
the step S40 specifically includes the steps of,
s41, recording the maximum value, the minimum value and the average value of geomagnetic data in a preset time window;
s42, calculating the variance of the maximum value and the minimum value of the geomagnetic data;
s43, respectively determining whether the variance of the maximum value and the minimum value of the geomagnetic data is within a preset range, and determining that the geomagnetic data is stable when the variance of the maximum value and the minimum value of the geomagnetic data is within the preset range.
Specifically, in the geomagnetic state stability judgment process, a sliding window method is adopted to judge whether the geomagnetic data in the window of 40 seconds is finally stable. The stability judgment algorithm comprises the following steps: recording the maximum value smoothMax, the minimum value smoothMin and the average value smoothAvg of the geomagnetic data in a window in a data structure, calculating the variance of the maximum value and the minimum value, and when the conditions of (smoothMax-smoothAvg) < delta1& (smoothAvg-smoothMin) < delta2 are met, considering that the geomagnetic environment is stable at present, namely the movement of the vehicle entering and exiting the parking space is completed.
S50, when the geomagnetic data are stable in a preset time, reading NB network signals of the single-mode geomagnetic equipment;
s60, comparing the RSRP value of the NB network signal with the historical vehicle-in-process RSRP value, if the RSRP value of the NB network signal is within the historical vehicle-in-process RSRP value range, judging that the vehicle is parked in the parking space, and if not, judging that no vehicle is parked.
In this step, NB network signal's reading, because the network injection district of the environment that equipment is located can change (district ID switches), and there is the difference in the intensity value of every district, so single mode earth magnetism equipment need keep the parking stall corresponding value data (design for 30 groups) of district ID and RSRP (reference signal received power), and the parameter data structure design is: the method comprises the steps of a vehicle intensity reference value rsrp _ park, a vehicle-free intensity reference value rsrp _ empty, a cell index ID and a counting statistic count. The single-mode geomagnetic equipment performs weighted updating (updating frequency is 1 hour) on the data reference value according to the parking state during operation and performs counting statistics, and when a cell list is full, a cell with a small counting value is preferentially deleted for updating (the reference meaning of the cell of the accidental network is not large). Comparing the read signal intensity value with a reference value of the ID corresponding to the history, and if the signal intensity value is in the rsrp _ park range, determining that the vehicle is parked, otherwise, determining that the vehicle is not parked; if the cell ID never appears, firstly, a waiting attempt is made to judge whether the cell is switched to a known cell in the list, if the time is out, the signal strength judgment is abandoned and the judgment is made by the difference value after the earth magnetism is stabilized, and the signal data of the cell is recorded into the cell list. If the rsrp _ park of the same cell is found to be close to the rsrp _ empty update value last, the group of records is considered invalid, and the cell record is deleted. After a car judgment result is given, the geomagnetic baseline data can immediately start to track, and the car judgment algorithm enters the next cycle.
The technical effects of the embodiment are as follows: on the premise of no additional hardware cost, geomagnetic data and NB signal strength are integrated to make vehicle detection judgment, and the problem of misjudgment of single-mode geomagnetic equipment is solved.
Geomagnetic baseline drift problem: the tracking of the single geomagnetic baseline can only be carried out when no vehicle exists, the tracking cannot be carried out continuously after the vehicle exists, and the change of the surrounding environment can cause the deviation of the geomagnetic baseline. The final vehicle judgment of the invention gives a result according to the change of the signal intensity, and the geomagnetic data is only used as a trigger condition, so that the geomagnetic baseline can be always tracked no matter whether vehicles exist or not, and the problem of baseline drift is avoided.
The adjacent vehicle interference problem: according to the invention, the values of the approaching and covering values are greatly different according to the network signal intensity of the single-mode geomagnetic equipment, so that whether a vehicle exists in the parking space or not is judged, and the interference of adjacent vehicles is avoided.
Equipment abnormity self-checking: the invention updates the intensity reference value of the signal with vehicle and the intensity reference value of the signal without vehicle, judges the validity of the two groups of values, judges the signal intensity of the group to be abnormal and invalid when the two groups of values are close to each other, deletes the cell in the signal list and can further carry out abnormal error correction processing.
A second embodiment of the present invention shown in fig. 2 is a car inspection apparatus that integrates geomagnetic data and NB signals, including,
the base line tracking module 10 is configured to read geomagnetic data of the parking space, use the read geomagnetic data as a base line tracking data source, and perform base line tracking by using a mean value smoothing algorithm;
a threshold judgment module 20, configured to judge whether the read geomagnetic data reaches a threshold for triggering a geomagnetic vehicle inspection algorithm;
the state switching module 30 is configured to, when the variation of the geomagnetic data reaches a threshold for triggering the geomagnetic vehicle detection algorithm, trigger the geomagnetic vehicle detection algorithm, and switch the state of the state machine to a vehicle-presence to-be-confirmed state according to a gradient threshold;
further, the state switching module 30 includes,
the first triggering unit is used for triggering the geomagnetic vehicle detection algorithm after the variable quantity of the geomagnetic data reaches a triggering first threshold value, stopping baseline tracking and continuously comparing the geomagnetic data;
and the second trigger unit is used for shifting the state machine to a state with a vehicle to be confirmed after the variable quantity of the geomagnetic data is stabilized at the second threshold value for a period of time.
Further, the variation of the geomagnetic data is a variation of a three-axis magnetic field.
A stationarity determining module 40, configured to determine whether geomagnetic data is stationary within a preset time;
further, the stability determining module 40 is configured to determine whether the geomagnetic data is stable within a preset time by using a sliding window algorithm.
Further, the smoothness judging module 40 includes,
the geomagnetic data recording unit is used for recording the maximum value, the minimum value and the average value of geomagnetic data of a preset time window;
a variance calculating unit for calculating the variance of the maximum value and the minimum value of the geomagnetic data;
and the geomagnetic data comparison unit is used for respectively judging whether the variance of the maximum value and the minimum value of the geomagnetic data is within a preset range, and judging that the geomagnetic data is stable when the variance of the maximum value and the minimum value of the geomagnetic data is within the preset range.
An NB network signal reading module 50, configured to read an NB network signal of the single-mode geomagnetic device when geomagnetic data is stable within a preset time;
and the parking space state judgment module 60 is configured to compare the RSRP value of the NB network signal with the historical RSRP value when the vehicle is parked, and judge that the vehicle is parked in the parking space if the RSRP value of the NB network signal falls within the historical RSRP value range when the vehicle is parked, otherwise judge that the vehicle is not parked.
It should be noted that, as can be clearly understood by those skilled in the art, the detailed implementation process of the car inspection device and each unit that synthesize the geomagnetic data and the NB signal may refer to the corresponding description in the foregoing method embodiment, and for convenience and brevity of description, no further description is provided herein.
The car inspection apparatus that integrates geomagnetic data and NB signals as described above may be implemented in the form of a computer program that can be run on a computer device as shown in fig. 3.
Referring to fig. 3, fig. 3 is a schematic block diagram of a computer device according to an embodiment of the present application. The computer device 500 may be a terminal or a server, where the terminal may be an electronic device with a communication function, such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, and a wearable device. The server may be an independent server or a server cluster composed of a plurality of servers.
Referring to fig. 3, the computer device 500 includes a processor 502, memory, and a network interface 505 connected by a system bus 501, where the memory may include a non-volatile storage medium 503 and an internal memory 504.
The non-volatile storage medium 503 may store an operating system 5031 and a computer program 5032. The computer program 5032 includes program instructions that, when executed, cause the processor 502 to perform a car inspection method that integrates geomagnetic data and NB signals.
The processor 502 is used to provide computing and control capabilities to support the operation of the overall computer device 500.
The internal memory 504 provides an environment for running the computer program 5032 in the non-volatile storage medium 503, and when the computer program 5032 is executed by the processor 502, the processor 502 may be enabled to execute a car detection method combining geomagnetic data and NB signals.
The network interface 505 is used for network communication with other devices. Those skilled in the art will appreciate that the configuration shown in fig. 3 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation of the computer device 500 to which the present application may be applied, and that a particular computer device 500 may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The processor 502 is configured to run the computer program 5032 stored in the memory to implement the car inspection method of integrating geomagnetic data and NB signals as described above.
It should be understood that in the embodiment of the present Application, the Processor 502 may be a Central Processing Unit (CPU), and the Processor 502 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It will be understood by those skilled in the art that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program instructing associated hardware. The computer program includes program instructions, and the computer program may be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the flow steps of the embodiments of the method described above.
Accordingly, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program comprises program instructions. The program instructions, when executed by the processor, cause the processor to execute the car inspection method of integrating geomagnetic data and NB signals as described above.
The storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, which can store various computer readable storage media.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be merged, divided and deleted according to actual needs. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. The utility model provides a car inspection method of synthesizing earth magnetism data and NB signal which characterized in that: comprises the following steps of (a) carrying out,
s10, reading the geomagnetic data of the parking space, taking the read geomagnetic data as a baseline tracking data source, and performing baseline tracking by adopting a mean value smoothing algorithm;
s20, judging whether the read geomagnetic data reaches a threshold value for triggering a geomagnetic vehicle detection algorithm;
s30, when the variation of the geomagnetic data reaches a threshold value for triggering a geomagnetic vehicle detection algorithm, triggering the geomagnetic vehicle detection algorithm, and switching the state machine state into a vehicle-presence state to be confirmed according to a gradient threshold value;
s40, judging whether the geomagnetic data is stable within a preset time by adopting a sliding window algorithm;
s50, when the geomagnetic data are stable in a preset time, reading NB network signals of the single-mode geomagnetic equipment;
s60, comparing the RSRP value of the NB network signal with the historical vehicle-in-process RSRP value, if the RSRP value of the NB network signal is within the historical vehicle-in-process RSRP value range, judging that the vehicle is parked in the parking space, and if not, judging that no vehicle is parked;
the step S40 specifically includes the steps of,
s41, recording the maximum value, the minimum value and the average value of geomagnetic data in a preset time window;
s42, calculating the variance of the maximum value and the minimum value of the geomagnetic data;
s43, respectively determining whether the variance of the maximum value and the minimum value of the geomagnetic data is within a preset range, and determining that the geomagnetic data is stable when the variance of the maximum value and the minimum value of the geomagnetic data is within the preset range.
2. The car inspection method of integrating geomagnetic data and NB signals according to claim 1, wherein: the step S30 specifically includes the steps of,
s31, when the variation of the geomagnetic data reaches a triggering first threshold, triggering a geomagnetic vehicle detection algorithm, stopping baseline tracking and continuously comparing the geomagnetic data;
and S32, when the variation of the geomagnetic data is stabilized at the second threshold for a period of time, the state machine transitions to a state of having a vehicle to be confirmed.
3. The car inspection method of integrating geomagnetic data and NB signals according to claim 2, wherein: the variation of the geomagnetic data is the variation of a triaxial magnetic field.
4. The utility model provides a synthesize car device of examining of earth magnetism data and NB signal which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the base line tracking module is used for reading geomagnetic data of the parking space, using the read geomagnetic data as a base line tracking data source, and adopting a mean value smoothing algorithm to perform base line tracking;
the threshold judging module is used for judging whether the read geomagnetic data reaches a threshold for triggering a geomagnetic vehicle detection algorithm;
the state switching module is used for triggering the geomagnetic vehicle detection algorithm when the variable quantity of the geomagnetic data reaches a threshold value for triggering the geomagnetic vehicle detection algorithm, and switching the state of the state machine into a vehicle-existing state to be confirmed according to a gradient threshold value;
the stability judging module is used for judging whether the geomagnetic data is stable within a preset time by adopting a sliding window algorithm;
the NB network signal reading module is used for reading the NB network signal of the single-mode geomagnetic equipment when the geomagnetic data is stable within the preset time;
the parking space state judging module is used for comparing the RSRP value of the NB network signal with the historical vehicle-in RSRP value, judging that a vehicle is parked in the parking space if the RSRP value of the NB network signal is within the historical vehicle-in RSRP value range, and otherwise judging that no vehicle is parked;
the smoothness judging module comprises a smoothness judging module,
the geomagnetic data recording unit is used for recording the maximum value, the minimum value and the average value of geomagnetic data of a preset time window;
a variance calculating unit for calculating the variance of the maximum value and the minimum value of the geomagnetic data;
and the geomagnetic data comparison unit is used for respectively judging whether the variance of the maximum value and the minimum value of the geomagnetic data is within a preset range, and judging that the geomagnetic data is stable when the variance of the maximum value and the minimum value of the geomagnetic data is within the preset range.
5. The car inspection apparatus that synthesizes earth magnetism data and NB signal as claimed in claim 4, characterized in that: the state switching module comprises a state switching module and a state switching module,
the first triggering unit is used for triggering the geomagnetic vehicle detection algorithm after the variable quantity of the geomagnetic data reaches a triggering first threshold value, stopping baseline tracking and continuously comparing the geomagnetic data;
and the second trigger unit is used for shifting the state machine to a state with a vehicle to be confirmed after the variable quantity of the geomagnetic data is stabilized at the second threshold value for a period of time.
6. The car inspection apparatus for integrating geomagnetic data and NB signals according to claim 5, wherein: the variation of the geomagnetic data is the variation of a triaxial magnetic field.
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